“This is the world’s first public trial of robo-taxi service,” said nuTonomy cofounder and chief executive Karl Iagnemma. “This is the start of what’s going to be a technology revolution.”

NuTonomy is providing the control software guiding the six taxicabs that debuted in Singapore, modified electric cars from French automaker Renault and Japan’s Mitsubishi. Each vehicle uses lasers and cameras to observe its surroundings and steer through Singapore’s business district. An engineer from nuTonomy was in the front seat, ready to take control if necessary, and a researcher in the rear monitored the cars’ computers.